diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml
index b85284faef..2ee0419a4a 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml
@@ -6,9 +6,9 @@ analyzers:
       joystick:
         type: diagnostic_aggregator/GenericAnalyzer
         path: Joystick
-        expected: 'joy: Joystick Driver Status'
+        expected: 'joy_node: Joystick Driver Status'
         num_items: 1
-        remove_prefix: 'joy'
+        remove_prefix: 'joy_node'
       sound:
         type: diagnostic_aggregator/GenericAnalyzer
         path: Sound
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml
new file mode 100644
index 0000000000..2b298ea54b
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml
@@ -0,0 +1,6 @@
+topics:
+  - /kinect_head/rgb/image_raw/compressed
+  - /kinect_head/depth_registered/image_raw/compressedDepth
+  - /edgetpu_human_pose_estimator/output/image/compressed
+  - /edgetpu_object_detector/output/image/compressed
+  - /audio
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml
new file mode 100644
index 0000000000..2c60dc86bb
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml
@@ -0,0 +1,24 @@
+blacklist:
+  - name: "/Cameras/Forearm.*"
+  - name: "/Cameras/Narrow.*"
+  - name: "/Cameras/Prosilica"
+  - name: "/Cameras/Wide.*"
+  - name: "/Computers/CPU/c1 CPU Usage"
+  - name: "/Computers/CPU/c2 CPU Usage"
+  - name: "/Devices/Joystick/Joystick Driver Status"
+  - name: "/Devices/Sound"
+  - name: "/Joints/Joint.*"
+    message: "Uncalibrated"
+  - name: "/Other/Accelerometer.*"
+  - name: "/Other/NTP offset from"
+  - name: "/Other/Pressure sensors.*"
+  - name: "/Other/lifelog joint_states_logger: LightweightLogger:: lifelog joint_states_throttle output"
+  - name: "/Other/prosilica prosilica_nodelet_manager:  prosilica prosilica_driver"
+  - name: "/Power System/.*"
+  - name: "/Motors/EtherCAT.*"
+    message: "Safety Lockout.*"
+  - name: "/Realtime Controllers/Controller.*"
+  - name: "/Realtime Controllers/Calibration stuck"
+  - name: "/Computers/CPU/c\\d CPU Temperature"
+run_stop_blacklist:
+  - "/Motors.*"
diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
index cb418c2d2c..706bbe0464 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
+++ b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
@@ -195,4 +195,25 @@
     <remap from="~input" to="/kinect_head/rgb/image_raw" />
   </node>
 
+  <node name="audible_warning"
+        pkg="jsk_tools" type="audible_warning.py"
+        clear_params="true"
+        output="screen" >
+    <rosparam command="load" file="$(find jsk_pr2_startup)/jsk_pr2_warning/warning_blacklist.yaml" />
+    <rosparam>
+      run_stop_topic: /power_board/state
+      run_stop_condition: "m.run_stop is False"
+      seconds_to_start_speaking: 60
+      speak_interval: 600
+    </rosparam>
+  </node>
+
+  <node name="sanity_diagnostics"
+        pkg="jsk_tools" type="sanity_diagnostics.py" >
+    <rosparam command="load" file="$(find jsk_pr2_startup)/jsk_pr2_warning/sanity_targets.yaml" />
+    <rosparam subst_value="true">
+      duration: 60
+    </rosparam>
+  </node>
+
 </launch>